/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */     

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId Quadraped_App_THandle;
osThreadId Motor_Control_THandle;
osThreadId Comm_USB_TaskHandle;
osMutexId usb_buf_mutexHandle;
osSemaphoreId usb_pack_SemHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
   
/* USER CODE END FunctionPrototypes */

void Quadraped_App(void const * argument);
extern void Motor_Control_Task(void const * argument);
extern void Comm_USB(void const * argument);

extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
  
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}                   
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */
       
  /* USER CODE END Init */

  /* Create the mutex(es) */
  /* definition and creation of usb_buf_mutex */
  osMutexDef(usb_buf_mutex);
  usb_buf_mutexHandle = osMutexCreate(osMutex(usb_buf_mutex));

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* Create the semaphores(s) */
  /* definition and creation of usb_pack_Sem */
  osSemaphoreDef(usb_pack_Sem);
  usb_pack_SemHandle = osSemaphoreCreate(osSemaphore(usb_pack_Sem), 1);

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of Quadraped_App_T */
  osThreadDef(Quadraped_App_T, Quadraped_App, osPriorityNormal, 0, 1024);
  Quadraped_App_THandle = osThreadCreate(osThread(Quadraped_App_T), NULL);

  /* definition and creation of Motor_Control_T */
  osThreadDef(Motor_Control_T, Motor_Control_Task, osPriorityRealtime, 0, 256);
  Motor_Control_THandle = osThreadCreate(osThread(Motor_Control_T), NULL);

  /* definition and creation of Comm_USB_Task */
  osThreadDef(Comm_USB_Task, Comm_USB, osPriorityNormal, 0, 256);
  Comm_USB_TaskHandle = osThreadCreate(osThread(Comm_USB_Task), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_Quadraped_App */
/**
  * @brief  Function implementing the Quadraped_App_T thread.
  * @param  argument: Not used 
  * @retval None
  */
/* USER CODE END Header_Quadraped_App */
__weak void Quadraped_App(void const * argument)
{
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();

  /* USER CODE BEGIN Quadraped_App */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END Quadraped_App */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
     
/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
